OpenRaiser/Intern-Atlas huggingface dataset:
PLEX: Making the Most of the Available Data for Robotic Manipulation Pretraining
Venue: arXiv cs.RO 2023
Year: 2023

A rich representation is key to general robotic manipulation, but existing approaches to representation learning require large amounts of multimodal demonstrations. In this work we propose PLEX, a transformer-based architecture that learns from a small amount of task-agnostic visuomotor trajectories and a much larger amount of task-conditioned object manipulation videos -- a type of data available in quantity. PLEX uses visuomotor trajectories to induce a latent feature space and to learn task-agnostic manipulation routines, while diverse video-only demonstrations teach PLEX how to plan in the induced latent feature space for a wide variety of tasks. Experiments showcase PLEX's generalization on Meta-World and SOTA performance in challenging Robosuite environments. In particular, using relative positional encoding in PLEX's transformers greatly helps in low-data regimes of learning from human-collected demonstrations. The paper's accompanying code and data are available at https://microsoft.github.io/PLEX.
Mesh Strikes Back: Fast and Efficient Human Reconstruction from RGB videos
Venue: arXiv cs.CV 2023
Year: 2023

Human reconstruction and synthesis from monocular RGB videos is a challenging problem due to clothing, occlusion, texture discontinuities and sharpness, and framespecific pose changes. Many methods employ deferred rendering, NeRFs and implicit methods to represent clothed humans, on the premise that mesh-based representations cannot capture complex clothing and textures from RGB, silhouettes, and keypoints alone. We provide a counter viewpoint to this fundamental premise by optimizing a SMPL+D mesh and an efficient, multi-resolution texture representation using only RGB images, binary silhouettes and sparse 2D keypoints. Experimental results demonstrate that our approach is more capable of capturing geometric details compared to visual hull, mesh-based methods. We show competitive novel view synthesis and improvements in novel pose synthesis compared to NeRF-based methods, which introduce noticeable, unwanted artifacts. By restricting the solution space to the SMPL+D model combined with differentiable rendering, we obtain dramatic speedups in compute, training times (up to 24x) and inference times (up to 192x). Our method therefore can be used as is or as a fast initialization to NeRF-based methods.
Ask and You Shall Receive (a Graph Drawing): Testing ChatGPT's Potential to Apply Graph Layout Algorithms
Venue: arXiv cs.HC 2023
Year: 2023

Large language models (LLMs) have recently taken the world by storm. They can generate coherent text, hold meaningful conversations, and be taught concepts and basic sets of instructions - such as the steps of an algorithm. In this context, we are interested in exploring the application of LLMs to graph drawing algorithms by performing experiments on ChatGPT. These algorithms are used to improve the readability of graph visualizations. The probabilistic nature of LLMs presents challenges to implementing algorithms correctly, but we believe that LLMs' ability to learn from vast amounts of data and apply complex operations may lead to interesting graph drawing results. For example, we could enable users with limited coding backgrounds to use simple natural language to create effective graph visualizations. Natural language specification would make data visualization more accessible and user-friendly for a wider range of users. Exploring LLMs' capabilities for graph drawing can also help us better understand how to formulate complex algorithms for LLMs; a type of knowledge that could transfer to other areas of computer science. Overall, our goal is to shed light on the exciting possibilities of using LLMs for graph drawing while providing a balanced assessment of the challenges and opportunities they present. A free copy of this paper with all supplemental materials required to reproduce our results is available on https://osf.io/n5rxd/?view_only=f09cbc2621f44074810b7d843f1e12f9
Characterizing and Predicting Social Correction on Twitter
Venue: arXiv cs.SI 2023
Year: 2023

Online misinformation has been a serious threat to public health and society. Social media users are known to reply to misinformation posts with counter-misinformation messages, which have been shown to be effective in curbing the spread of misinformation. This is called social correction. However, the characteristics of tweets that attract social correction versus those that do not remain unknown. To close the gap, we focus on answering the following two research questions: (1) ``Given a tweet, will it be countered by other users?'', and (2) ``If yes, what will be the magnitude of countering it?''. This exploration will help develop mechanisms to guide users' misinformation correction efforts and to measure disparity across users who get corrected. In this work, we first create a novel dataset with 690,047 pairs of misinformation tweets and counter-misinformation replies. Then, stratified analysis of tweet linguistic and engagement features as well as tweet posters' user attributes are conducted to illustrate the factors that are significant in determining whether a tweet will get countered. Finally, predictive classifiers are created to predict the likelihood of a misinformation tweet to get countered and the degree to which that tweet will be countered. The code and data is accessible on https://github.com/claws-lab/social-correction-twitter.
Relative coordinates are crucial for Ulam's "trick to the train of thought"
Venue: arXiv cs.AI 2023
Year: 2023

Spatial signal processing algorithms often use pre-given coordinate systems to label pixel positions. These processing algorithms are thus burdened by an external reference grid, making the acquisition of relative, intrinsic features difficult. This is in contrast to animal vision and cognition: animals recognize features without an external coordinate system. We show that a coordinate system-independent algorithm for visual signal processing is not only important for animal vision, but also fundamental for concept formation. In this paper we start with a visual object deformation transfer experiment. We then formulate an algorithm that achieves deformation-invariance with relative coordinates. The paper concludes with implications for general concept formation.
DeblurSR: Event-Based Motion Deblurring Under the Spiking Representation
Venue: arXiv cs.CV 2023
Year: 2023

We present DeblurSR, a novel motion deblurring approach that converts a blurry image into a sharp video. DeblurSR utilizes event data to compensate for motion ambiguities and exploits the spiking representation to parameterize the sharp output video as a mapping from time to intensity. Our key contribution, the Spiking Representation (SR), is inspired by the neuromorphic principles determining how biological neurons communicate with each other in living organisms. We discuss why the spikes can represent sharp edges and how the spiking parameters are interpreted from the neuromorphic perspective. DeblurSR has higher output quality and requires fewer computing resources than state-of-the-art event-based motion deblurring methods. We additionally show that our approach easily extends to video super-resolution when combined with recent advances in implicit neural representation. The implementation and animated visualization of DeblurSR are available at https://github.com/chensong1995/DeblurSR.
Reclaiming the Digital Commons: A Public Data Trust for Training Data
Venue: arXiv cs.CY 2023
Year: 2023

Democratization of AI means not only that people can freely use AI, but also that people can collectively decide how AI is to be used. In particular, collective decision-making power is required to redress the negative externalities from the development of increasingly advanced AI systems, including degradation of the digital commons and unemployment from automation. The rapid pace of AI development and deployment currently leaves little room for this power. Monopolized in the hands of private corporations, the development of the most capable foundation models has proceeded largely without public input. There is currently no implemented mechanism for ensuring that the economic value generated by such models is redistributed to account for their negative externalities. The citizens that have generated the data necessary to train models do not have input on how their data are to be used. In this work, we propose that a public data trust assert control over training data for foundation models. In particular, this trust should scrape the internet as a digital commons, to license to commercial model developers for a percentage cut of revenues from deployment. First, we argue in detail for the existence of such a trust. We also discuss feasibility and potential risks. Second, we detail a number of ways for a data trust to incentivize model developers to use training data only from the trust. We propose a mix of verification mechanisms, potential regulatory action, and positive incentives. We conclude by highlighting other potential benefits of our proposed data trust and connecting our work to ongoing efforts in data and compute governance.
Integrated Design of Cooperative Area Coverage and Target Tracking with Multi-UAV System
Venue: arXiv cs.MA 2023
Year: 2023

This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task assignment, and multi-UAV behavior decision-making. Specifically, in the information fusion process, we use the maximum consistency protocol to update the joint estimation states of multi-targets (JESMT) and the area detection information. The area detection information is represented by the equivalent visiting time map (EVTM), which is built based on the detection probability and the actual visiting time of the area. Then, we model the task assignment problem of multi-UAV searching and tracking multi-targets as a network flow model with upper and lower flow bounds. An algorithm named task assignment minimum-cost maximum-flow (TAMM) is proposed. Cooperative behavior decision-making uses Fisher information as the mission reward to obtain the optimal tracking action of the UAV. Furthermore, a coverage behavior decision-making algorithm based on the anti-flocking method is designed for those UAVs assigned the coverage task. Finally, a distributed multi-UAV cooperative area coverage and target tracking algorithm is designed, which integrates information fusion, task assignment, and behavioral decision-making. Numerical and hardware-in-the-loop simulation results show that the proposed method can achieve persistent area coverage and cooperative target tracking.
DeeBBAA: A benchmark Deep Black Box Adversarial Attack against Cyber-Physical Power Systems
Venue: arXiv cs.CR 2023
Year: 2023

An increased energy demand, and environmental pressure to accommodate higher levels of renewable energy and flexible loads like electric vehicles have led to numerous smart transformations in the modern power systems. These transformations make the cyber-physical power system highly susceptible to cyber-adversaries targeting its numerous operations. In this work, a novel black box adversarial attack strategy is proposed targeting the AC state estimation operation of an unknown power system using historical data. Specifically, false data is injected into the measurements obtained from a small subset of the power system components which leads to significant deviations in the state estimates. Experiments carried out on the IEEE 39 bus and 118 bus test systems make it evident that the proposed strategy, called DeeBBAA, can evade numerous conventional and state-of-the-art attack detection mechanisms with very high probability.
Learning Rewards to Optimize Global Performance Metrics in Deep Reinforcement Learning
Venue: arXiv cs.LG 2023
Year: 2023

When applying reinforcement learning (RL) to a new problem, reward engineering is a necessary, but often difficult and error-prone task a system designer has to face. To avoid this step, we propose LR4GPM, a novel (deep) RL method that can optimize a global performance metric, which is supposed to be available as part of the problem description. LR4GPM alternates between two phases: (1) learning a (possibly vector) reward function used to fit the performance metric, and (2) training a policy to optimize an approximation of this performance metric based on the learned rewards. Such RL training is not straightforward since both the reward function and the policy are trained using non-stationary data. To overcome this issue, we propose several training tricks. We demonstrate the efficiency of LR4GPM on several domains. Notably, LR4GPM outperforms the winner of a recent autonomous driving competition organized at DAI'2020.
Knowledge Transfer for Pseudo-code Generation from Low Resource Programming Language
Venue: arXiv cs.SE 2023
Year: 2023

Generation of pseudo-code descriptions of legacy source code for software maintenance is a manually intensive task. Recent encoder-decoder language models have shown promise for automating pseudo-code generation for high resource programming languages such as C++, but are heavily reliant on the availability of a large code-pseudocode corpus. Soliciting such pseudocode annotations for codes written in legacy programming languages (PL) is a time consuming and costly affair requiring a thorough understanding of the source PL. In this paper, we focus on transferring the knowledge acquired by the code-to-pseudocode neural model trained on a high resource PL (C++) using parallel code-pseudocode data. We aim to transfer this knowledge to a legacy PL (C) with no PL-pseudocode parallel data for training. To achieve this, we utilize an Iterative Back Translation (IBT) approach with a novel test-cases based filtration strategy, to adapt the trained C++-to-pseudocode model to C-to-pseudocode model. We observe an improvement of 23.27% in the success rate of the generated C codes through back translation, over the successive IBT iteration, illustrating the efficacy of our approach.
Local Search for Solving Satisfiability of Polynomial Formulas
Venue: arXiv cs.LO 2023
Year: 2023

Satisfiability Modulo the Theory of Nonlinear Real Arithmetic, SMT(NRA) for short, concerns the satisfiability of polynomial formulas, which are quantifier-free Boolean combinations of polynomial equations and inequalities with integer coefficients and real variables. In this paper, we propose a local search algorithm for a special subclass of SMT(NRA), where all constraints are strict inequalities. An important fact is that, given a polynomial formula with $n$ variables, the zero level set of the polynomials in the formula decomposes the $n$-dimensional real space into finitely many components (cells) and every polynomial has constant sign in each cell. The key point of our algorithm is a new operation based on real root isolation, called cell-jump, which updates the current assignment along a given direction such that the assignment can `jump' from one cell to another. One cell-jump may adjust the values of several variables while traditional local search operations, such as flip for SAT and critical move for SMT(LIA), only change that of one variable. We also design a two-level operation selection to balance the success rate and efficiency. Furthermore, our algorithm can be easily generalized to a wider subclass of SMT(NRA) where polynomial equations linear with respect to some variable are allowed. Experiments show the algorithm is competitive with state-of-the-art SMT solvers, and performs particularly well on those formulas with high-degree polynomials.
Enhancing Text Generation with Cooperative Training
Venue: arXiv cs.CL 2023
Year: 2023

Recently, there has been a surge in the use of generated data to enhance the performance of downstream models, largely due to the advancements in pre-trained language models. However, most prevailing methods trained generative and discriminative models in isolation, which left them unable to adapt to changes in each other. These approaches lead to generative models that are prone to deviating from the true data distribution and providing limited benefits to discriminative models. While some works have proposed jointly training generative and discriminative language models, their methods remain challenging due to the non-differentiable nature of discrete data. To overcome these issues, we introduce a \textit{self-consistent learning} framework in the text field that involves training a discriminator and generator cooperatively in a closed-loop manner until a scoring consensus is reached. By learning directly from selected samples, our framework are able to mitigate training instabilities such as mode collapse and non-convergence. Extensive experiments on four downstream benchmarks, including AFQMC, CHIP-STS, QQP, and MRPC, demonstrate the efficacy of the proposed framework.
Optimal Intervention on Weighted Networks via Edge Centrality
Venue: arXiv cs.SI 2023
Year: 2023

Suppose there is a spreading process such as an infectious disease propagating on a graph. How would we reduce the number of affected nodes in the spreading process? This question appears in recent studies about implementing mobility interventions on mobility networks (Chang et al. (2021)). A practical algorithm to reduce infections on unweighted graphs is to remove edges with the highest edge centrality score (Tong et al. (2012)), which is the product of two adjacent nodes' eigenscores. However, mobility networks have weighted edges; Thus, an intervention measure would involve edge-weight reduction besides edge removal. Motivated by this example, we revisit the problem of minimizing top eigenvalue(s) on weighted graphs by decreasing edge weights up to a fixed budget. We observe that the edge centrality score of Tong et al. (2012) is equal to the gradient of the largest eigenvalue of $WW^{\top}$, where $W$ denotes the weight matrix of the graph. We then present generalized edge centrality scores as the gradient of the sum of the largest $r$ eigenvalues of $WW^{\top}$. With this generalization, we design an iterative algorithm to find the optimal edge-weight reduction to shrink the largest $r$ eigenvalues of $WW^{\top}$ under a given edge-weight reduction budget. We also extend our algorithm and its guarantee to time-varying graphs, whose weights evolve over time. We perform a detailed empirical study to validate our approach. Our algorithm significantly reduces the number of infections compared with existing methods on eleven weighted networks. Further, we illustrate several properties of our algorithm, including the benefit of choosing the rank $r$, fast convergence to global optimum, and an almost linear runtime per iteration.
Lessons Learnt from a Multimodal Learning Analytics Deployment In-the-wild
Venue: arXiv cs.HC 2023
Year: 2023

Multimodal Learning Analytics (MMLA) innovations make use of rapidly evolving sensing and artificial intelligence algorithms to collect rich data about learning activities that unfold in physical learning spaces. The analysis of these data is opening exciting new avenues for both studying and supporting learning. Yet, practical and logistical challenges commonly appear while deploying MMLA innovations "in-the-wild". These can span from technical issues related to enhancing the learning space with sensing capabilities, to the increased complexity of teachers' tasks and informed consent. These practicalities have been rarely discussed. This paper addresses this gap by presenting a set of lessons learnt from a 2-year human-centred MMLA in-the-wild study conducted with 399 students and 17 educators. The lessons learnt were synthesised into topics related to i) technological/physical aspects of the deployment; ii) multimodal data and interfaces; iii) the design process; iv) participation, ethics and privacy; and v) the sustainability of the deployment.
Evaluation of distance-based approaches for forensic comparison: Application to hand odor evidence
Venue: arXiv cs.LG 2023
Year: 2023

The issue of distinguishing between the same-source and different-source hypotheses based on various types of traces is a generic problem in forensic science. This problem is often tackled with Bayesian approaches, which are able to provide a likelihood ratio that quantifies the relative strengths of evidence supporting each of the two competing hypotheses. Here, we focus on distance-based approaches, whose robustness and specifically whose capacity to deal with high-dimensional evidence are very different, and need to be evaluated and optimized. A unified framework for direct methods based on estimating the likelihoods of the distance between traces under each of the two competing hypotheses, and indirect methods using logistic regression to discriminate between same-source and different-source distance distributions, is presented. Whilst direct methods are more flexible, indirect methods are more robust and quite natural in machine learning. Moreover, indirect methods also enable the use of a vectorial distance, thus preventing the severe information loss suffered by scalar distance approaches.Direct and indirect methods are compared in terms of sensitivity, specificity and robustness, with and without dimensionality reduction, with and without feature selection, on the example of hand odor profiles, a novel and challenging type of evidence in the field of forensics. Empirical evaluations on a large panel of 534 subjects and their 1690 odor traces show the significant superiority of the indirect methods, especially without dimensionality reduction, be it with or without feature selection.
MASCARA: Systematically Generating Memorable And Secure Passphrases
Venue: arXiv cs.CR 2023
Year: 2023

Passwords are the most common mechanism for authenticating users online. However, studies have shown that users find it difficult to create and manage secure passwords. To that end, passphrases are often recommended as a usable alternative to passwords, which would potentially be easy to remember and hard to guess. However, as we show, user-chosen passphrases fall short of being secure, while state-of-the-art machine-generated passphrases are difficult to remember. In this work, we aim to tackle the drawbacks of the systems that generate passphrases for practical use. In particular, we address the problem of generating secure and memorable passphrases and compare them against user chosen passphrases in use. We identify and characterize 72, 999 user-chosen in-use unique English passphrases from prior leaked password databases. Then we leverage this understanding to create a novel framework for measuring memorability and guessability of passphrases. Utilizing our framework, we design MASCARA, which follows a constrained Markov generation process to create passphrases that optimize for both memorability and guessability. Our evaluation of passphrases shows that MASCARA-generated passphrases are harder to guess than in-use user-generated passphrases, while being easier to remember compared to state-of-the-art machine-generated passphrases. We conduct a two-part user study with crowdsourcing platform Prolific to demonstrate that users have highest memory-recall (and lowest error rate) while using MASCARA passphrases. Moreover, for passphrases of length desired by the users, the recall rate is 60-100% higher for MASCARA-generated passphrases compared to current system-generated ones.